Response Spectra

Response spectra are curves plotted between maximum response of SDOF system subjected to
specified earthquake ground motion and its time period (or frequency). Response spectrum can be
interpreted as the locus of maximum response of a SDOF system for given damping ratio.
Response spectra thus helps in obtaining the peak structural responses under linear range, which
can be used for obtaining lateral forces developed in structure due to earthquake thus facilitates in
earthquake-resistant design of structures.
Usually response of a SDOF system is determined by time domain or frequency domain analysis,
and for a given time period of system, maximum response is picked. This process is continued for
all range of possible time periods of SDOF system. Final plot with system time period on x-axis
and response quantity on y-axis is the required response spectra pertaining to specified damping
ratio and input ground motion. Same process is carried out with different damping ratios to obtain
overall response spectra.

Consider a SDOF system subjected to earthquake acceleration { ẍ g }the equation of motion is given
by m ( ü+ ü g ) +c ü+ ku=0 ;

where the total displacement of girder is ¿

¿ u g is ground displacement
since at equilibrium of structure

f i ( inertia force ) + f d ( damping force ) + f s ( spring force )=0 ; from solid mechanics we know
f s ( spring force )=ku ; f d ( damping force )=c ü∧f i=m ( ü+ üg )

⟹m ü+c u̇+ ku=−m u¨g ---------------(1)

This equation represents damped vibration subjected to −m üg force. We may
recall that if the righthand side force is absent it will be free vibration.

We recall from structural dynamics that

k =m ω ∧c=2 mω ζ …………………………(2)
2

Recalling vibration
To simplify the solutions coming up, we define the critical damping c c , the damping
ratio ζ , and the damped vibration frequency d as

Underdamped Systems

When < 0 (equivalent to < 1 or < ), the characteristic equation has a

pair of complex conjugate roots. The displacement solution for this kind of system is,

Critically-Damped Systems

When = 0 (equivalent to = 1 or = ), the characteristic equation has

repeated real roots. The displacement solution for this kind of system is,

The critical damping factor c can be interpreted as the minimum damping that results in
c

non-periodic motion (i.e. simple decay).

The displacement plot of a critically-damped system with positive initial displacement

and velocity would appear as,

Overdamped Systems

When > 0 (equivalent to > 1 or > ), the characteristic equation has

two distinct real roots. The displacement solution for this kind of system is,
The displacement plot of an overdamped system would appear as,

The motion of an overdamped system is non-periodic, regardless of the initial conditions.

The larger the damping, the longer the time to decay from an initial disturbance.

If the system is heavily damped, , the displacement solution takes the approximate
form,
From equation (1) and (2) we can writeü+2 ζ ω u+˙ω2 u=−u¨g………(3)

where ω is circular frequency of the structure in radians per second andζ is the damping ratio. For free
response to be vibratory,ζ < 1. For most structures ζ is small, say< 0.1, or 10%. We note that the
ω 1
frequency in Hertz (Hz) or in cycles per second (cps) f = , and that the period of vibration T = =
2π f
2π
which is in seconds.
ω

Equation (3) can be solved using standard numerical techniques. As a result we

can obtain the time histories of displacement, velocity and acceleration, of the
spring and the damping forces, and any other related response time history. See
the Appendix.-1

Response spectrum
We can solve Equation (3) for many single-degree-of-freedom (SDOF) structures having different
frequencies, each subjected to the same earthquake ground motion. For each structure we can
calculate the absolute maximum value of the response of interest from the corresponding time history.
In earthquake response calculations the sign of response is often not considered. For design
purposes the maximum positive and negative values are assumed to have equal magnitudes, hence the
absolute sign. The curve showing the maximum response versus structural frequency relationship is
called the response spectrum
For designing a structure, we are most interested in the maximum spring force f swhich can be
evaluated if the maximum relative displacement u is known. A plot between maximum relative
displacement and structural frequency is called the displacement response spectrum. Its ordinates are
called spectral displacements, and are denoted by S D (f , ζ) . Depending upon the context, they can
also be denoted by S D (ω , ζ) or simply S D ( f ) , S D ( ω )∨S D (¿ u)

Let us consider the spring force-displacement relationship f s=k .u. We have indicated earlier that if
the relative displacement u is known, we can find the spring force f s .Alternatively, if the spring force
is known, we can determine the corresponding relative displacement u. We can visualize this as a
pseudo-static problem shown in Figure below. Now let us think f sas a pseudo-inertia force, which
can be written in terms of the pseudo acceleration a as ma. The relationships, f s=ma=k .u gives a =
¿)u =ω 2 u. The absolute maximum value of a is called spectral acceleration S A . We can easily
2
see S A =ω S D where S D =max ⁡(⎸u ⎸)

From Equation by (1) m ( ü+ ü g ) +c ü+ ku=0 we observe that when c ü is small we can write
m ( ü+ ü g ) +ku=0∨m ( ü+ ü g ) =−ku , or the total acceleration ü+ ü g ≃−¿ ω 2 u This

S A =max ⎸ ü+ ü g ⎸⟹ pseudo-acceleration

means,

This pseudo-acceleration response spectrum for the El Centro earthquake is plotted(𝜻=2%)

Having defined the response spectra for relative displacement and for pseudo acceleration ( Sa ¿
, we wish to define a response spectrum for velocity. It can be done in more than one way. First, let us
define a spectral velocity S v such that the kinetic energy associated with it is equal to the maximum

strain energy of the spring

1
2
1
m S v 2=K . E= k S D2=P . E∨S v =
2
k
√S ⟹ S v =ω S D ;
m D
The spectral velocity S v is really a pseudo velocity because it is not directly related to the actual
velocity of the structure.

We now have three spectral quantities S D, S v and Sa which have units of displacement, velocity and
acceleration, respectively. Only spectral displacement S D is directly based on an actual response
quantity, the maximum relative displacement.
'
Now we shall denote the new quantity by S v .It is defined as the absolute maximum relative velocity
of max ⎸ u̇ ⎸
=================================
The relative velocity spectrum is shown in Figure 1.3(b) with the dashed lines.
The two spectra in the figure are close in the intermediate frequency range; the
pseudo velocity spectrum is higher in the high frequency range, and the relative
velocity spectrum is higher in the low frequency range. Thus, as a rule, we cannot
substitute one spectrum for the other

The relative velocity spectrum is shown in Figure given below with the dashed lines.

pseudo velocity spectrum is higher in the high frequency range(as it is 𝛚

The two spectra in the figure are close in the intermediate frequency range. The

S D=spectral velocity∨ pseudo velocity ¿, and the relative velocity spectrum is higher in
'
the low frequency range. ( SV =max ⎸ u̇ t ⎸ absolute max . relative velocity ¿
Thus, as a rule, we cannot substitute one spectrum for the other. For the SDOF structure, the response
spectrum quantity of interest is any one
of S D , S v ∨S A . Also, for the classically
damped multi degree freedom
(MDOF) systems we need only one of the
above spectra for regular damping.
'
But we also need S v for non-classically
damping system.

1)The low frequency range is characterized by a low value of the spring stiffnessk ∧ω=
√ k As the
m
spring stiffness becomes smaller and smaller, it progressively ceases to transmit any motion to the
mass. In the limit, the total displacement of the mass tends to zero(u=0). Relative displacement of the
oscillator becomes u−ug =−ug sinceu → 0∨we say S D =max|u g|
2)In the high frequency range the stiffness so high that ground acceleration gets directly transmitted
to the structure mass or S A =max|u¨g|. In this case maximum relative displacement can be expressed
as (using acceleration)

S D=max|u|⟹ | |
m ü g
k max
x dynamic amplification factor where ü g=S A =max|üg| if the structure
frequency is very high and more than the input earthquake ground motion frequency then dynamic
amplification factor=1.0

Then S D=max|u|⟹ | | | |
m ü g ü
= g2 ∨S A =ω 2 S D=ω2 { max|u|}=|ü g|max
k max ω max

In the intermediate frequency range the spectrum has amplified spectral displacement, velocity and
acceleration.

For the SDOF and MDOF

structure, the response spectrum
quantity of interest is any one
of S D∨S V ∨S A is important.

Response Analysis of MDOF System (Modal analysis of MDOF system

subjected to Ground motion) :see response spectrum method

Multi degree of freedom (MDOF) systems are usually analyzed using Modal Analysis. A typical
MDOF system with ‘n’ degree of freedom is shown in Figure (4.8). This system when subjected
to ground motion undergoes deformations in number of possible ways. These deformed shapes
are known as modes of vibration or mode shapes. Each shape is vibrating with a particular
natural frequency. Total unique modes for each MDOF system are equal to the possible degree
of freedom of system. The equations of motion for MDOF system is given by

[ m ] {ü }+ [ c ] { u̇ } + [ k ] {u }=−[ m ] {r } {ü g }…………(1)

where, [m] = Mass matrix (n × n); [k] = Stiffness matrix (n × n); [c] = Damping matrix (n × n); {r} =
Influence coefficient vector (n×1); { u } = relative displacement vector; { u̇ } = relative velocity
vector, = relative acceleration vector, and { ü g }= earthquake ground acceleration.
{ r } isdefined as a “displacement transformation vector that expresses the displacement of each
structure degree of freedom due to static application of a unit support displacement”

MDOF system with ‘n’ degrees-of-freedom

The undamped eigen values and eigen vectors of the MDOF

system are found form the characteristic equation

{ [ k ] −ω i2 [ m ] } ∅ i=0 wherei=1 , 2 ,3. . … , n ⟹ det|{[ k ] −ω i2 [ m ] }|=0

Where ω i=natural freq . at i thmode∧∅ i is mode shape vector at i th mode .

MODAL SUPERPOSITION METHOD OF ANALYSIS

There are N independent mode shapes for an N-degree-of-freedom

undamped system. Any
arbitrary displaced shape of the structure may be expressed in terms of
the amplitudes of
these shapes. In general displacement response of the MDOF system is expressed as
N
{ u(t) }=[ ∅ ] { y (t) } … … .. ( 2 ) ⟹ where ui ( t )=∑ ∅ ij y j ( t ) ; ith coordinate(dof )∧ jth mode
j=1

[ ∅ ] =mode shape ¿ { y ( t ) } =modal displacement vector

[ ∅ ] =[ ∅ 1 , ∅ 2 , ∅ 3 … … … … ., ∅ n ]
Making use of the orthogonality properties, these equations can be
converted into a set of N
independent second order differential equations similar to those used to
define the dynamic
behaviour of SDOF systems:
 T
substituting (2) in eqn. (1) and pre-multiply by [ ∅ ]

[ ∅ ]T [ m ] [ ∅ ] { ÿ (t) } + [ ∅ ] T [ c ][ ∅ ] { ẏ (t) } + [ ∅ ] T [ k ] [ ∅ ] { y (t) }=− [ ∅ ] T [ m ] { r } ü g (t)

The above equation reduces to

[ M ¿ ] { ÿ (t) } + [ C ¿ ] { ẏ (t)} + [ K ¿ ] { y (t ) }=−[ ∅ ] T [ m ] { r } üg ( t ) … … ..(2)

Where [ M ¿ ] = [ ∅ ] [ m ][ ∅ ]=generalized mass ¿
T

[ C ¿ ] =[ ∅ ]T [ c ][ ∅ ]=generalized damping ¿
[ K ¿ ] =[ ∅ ] T [ k ][ ∅ ]=generalized stiffness¿
Property 1) Modes shapes are orthogonal to each other. 2) we converted the equation of motion in
terms of generalized coordinates

[ ]
∅ 11 ∅ 12 ∅ 13 ∅ 14
[ ∅ ] =[ ∅ 1 , ∅ 2 , ∅ 3 … … … … ., ∅ n ]= ∅ 21 ∅ 22 ∅ 23 ∅ 24
is called modal matrx ;
∅ 31 ∅ 32 ∅ 33 ∅ 34
∅ 41 ∅ 42 ∅ 43 ∅ 44

[ ]
2
ω1 0 0 0
the spectral ¿ defined by [ Ω2 ] = 2 ¿ω4 ¿
2

0 ω 2 ¿ ¿

Prof of (1) consider eigen values of two modes, i∧ j then we can write

[ K ] ∅ i=ωi2 [ M ] ∅ i … … ( a ) ∧[ K ] ∅ j =ω j2 [ M ] ∅ j … .. ( b ) where ωi2 ≠ ω j2 ∧∅ i ≠ ∅ j

T T
Pre-multiplying (a) with ∅ j ∧eqn . ( b ) with ∅ i we get

∅ j [ K ] ∅ i=ωi ∅ j [ M ] ∅ i … … … .(c)
T 2 T

∅ i [ K ] ∅ j=ω j ∅ i [ M ] ∅ j … … ..(d )
T 2 T

Transposing both side of equation (d) we get ∅ j [ K ] ∅ i=ω j ∅ j [ M ] ∅ i … … … …(e) we took

T 2 T

[ K ] T = [ K ] ∧[ M ]T =[ M ] subtracting (c )-(e ) we get

0=ωi2 ∅ jT [ M ] ∅ i−ω j2 ∅ jT [ M ] ∅ i ⟹ ( ω i2−ω j2 ) ∅ jT [ M ] ∅ i since ωi2−ω j2 ≠ 0 ,

we say ∅ j [ M ] ∅ i=0∧similarly ∅ j [ K ] ∅ i=0 but notethat ∅ j ∅ i ≠ 0∧vice versa

T T T

Hence the modes are orthogonal to each other

If i= j

∅ j [ M ] ∅ j ≠ 0 ; ∅i [ M ] ∅ i ≠ 0
T T
 but if i≠ j ∅ i [ M ] ∅ j=0∧∅ j [ M ] ∅ i=0
T T

[ ∅ ]T [ K ][ ∅ ]=modal stiffness ¿ ¿
[ ∅ ]T [ M ] [ ∅ ] =modal mass ¿ ¿ note that modal mass matrix is diagonal
By virtue of the properties of the [φ], the matrices [M] and [K] are diagonal matrices. However,
for the classically damped system (i.e. if the [C] is also a diagonal matrix), the equation (2)
reduces to the following equation

[ M ¿ ] { ÿ (t) } + [ C ¿ ] { ẏ (t)} + [ K ¿ ] { y (t ) }=−[ ∅ ] T [ m ] { r } üg ( t ) … … ..(2)

We call [ M ¿ ] = [ ∅ ] [ m ][ ∅ ]=generalized mass ¿ [ ∅ ] defined earlier
T

[ C ¿ ] =[ ∅ ]T [ c ][ ∅ ]=generalized damping ¿
The free vibration behaviour of a structure is expressed by the equations
of motion adapted to
the special condition of no damping ([C]=[0]) and with no applied loading
{ [ m ] { r } ü g ( t ) }={0} The motions of the system in free vibration are simple
harmonic. In this case
[ K ¿ ] =[ ∅ ] T [ k ][ ∅ ]=generalized stffness ¿ [ ω ]2 [ M ¿ ]
[m] = Mass matrix (n × n);
We can write the ith modal displacement
2
ÿ i ( t ) +2 ζ i ωi ẏ i ( t ) +ω i y i ( t ) =−Γ i üg ( t ) … … .. ( 3 ) ; i=(1 , 2 ,3 , … .. n) behaves like series of SDOF

y i ( t ) =modal displacement ∈i thmode ;

T
{∅ i } [ m ] { r }
ζ i =modal damping ration∈the ith mode ; Γ i=modal participation factor ∈ith mode= T
{∅ i } [ m ] {∅ i }
Equation (3) representing the form of equation of SDOF system subjected to earthquake
acceleration ü g ( t ) where equation for SDOF is m ÿ ( t ) +c ẏ ( t ) +ky ( t )=−m ü g (t ) the maximum i th
modal displacement response is found from the response spectrum i.e.
 ith modal displacement y i, max =| y i (t)|max= { Γ i } S D (ζ i , ωi );

Get S D ( ζ , ωi ) ¿ response spectrum curve

The maximum displacement response of the structure in the ith mode is

ui , max= { ∅ i } y i ,max ⟹ {∅ i } Γ i S D (ζ i , ωi )wherei= (1 , 2 3 , 4 , … . n ) …..(4)

as we expressed { u( t ) }=[ ∅ ] { y ( t ) }

The maximum acceleration response of the structure in the ith mode is

{ü acceleration }i ,max ={∅ i } Γ i S A ( ζ i , ωi ) where i=( 1 ,2 3 , 4 ,… . n ) ………(5)
The required response quantity of interest, ri i.e. (displacement, shear force, bending
moment etc.) of the structure can be obtained in each mode of vibration using the
maximum response obtained in equations (4) and (5). However, the final maximum
response, rmax shall be obtained by combining the response in each mode of vibration using
the modal combinations
rules. Some of the modal combinations rules commonly used are described here.

A two-story building is modeled as 2-DOF system and rigid floors as shown in the
Figure
4.9. Determine the top floor maximum displacement and base shear due to El-Centro,
1940 earthquake ground motion using the response spectrum method. Take the
inter-story stiffness,

3
197.392 x 10 N
k= ∧floor mass m=2500 kgand ζ=damping ratio as 2% .
m
Mass of each floor, m = 2500 kg and stiffness, k = 197.392 kN/m

Stiffness matrix = [k]= [ 2−kk +k −kk ]

we analyse the two-degrees-of freedom (2-DOF) undamped mass-spring system
of shown in Figure below. Dynamic translations y 1 (t) and y 2 (t) shown are
relative to the static equilibrium positions. As usual for the purpose of drawing
forces on dynamic free body diagrams (DFBDs, as defined in …………..), we let
the translational springs be stretched at the instant depicted, so that, in
particular, the dynamic tension in the lower spring k 2 { y 2 ( t )− y 1 (t) }

From the DFBDs, Newton’s 2nd law gives the ODEs of motion

Transposing dependent-variable terms to the left hand sides,

and collecting terms gives

Now, expressing above Equations in the same

matrix form as

…………….(6)

The inertia and structural stiffness matrices of Equation above are positive
definite, and all diagonal elements of both matrices also are positive definite.
Next, we want to solve matrix Equation for free vibrations, so we set to zero the
applied forces f₁(t) = f₂(t) = 0. Let us seek response to non-zero initial
translations, with zero initial velocities. (initial condition).

Accordingly, we assume motion solutions of the unforced 2-DOF system in the

form
y₁(t) = Y₁ cos ωt and y₂(t) = Y₂ cos ωt in which ω, Y1, Y2 are the unknown
quantities. It is efficient and appropriate to express the assumed solution in
matrix form:

[ ][ ]
y 1 (t) Y 1
=
y 2 (t) Y 2
cos ( ωt ) ⟹ y1 ( t )=Y 1 cos ( ωt )∧ y 2 ( t )=Y 2 cos ( ωt ) substituting this in the equation

(6) we get

[ ][ ]
m1 0 Y 1
0 m2 Y 2 [ ][ ]
( −ω2 ) cos ( ωt )+ k 1 +k 2 −k 2 Y 1 cos ( ωt )= 0
−k 2 k2 Y 2 0 []
Since cos ( ωt ) can not be zero we consolidate the equation.
 [ ][ ] [ ]
2
k 1 +k 2 −ω m1 −k 2 Y1 0
=
−k 2 k 2−ω m2
2
Y2 0

2 2
Hence m 1 m2 ( ω ) + [−m1 k 2−m2 (k 1 +k 2 ) ] ω 2+ k 1 k 2=0 … …. quadritic equation; solve
2 2
Solving for the quadratic equation m 1 m2 ( ω ) + [ −m1 k 2 −m2 ( k 1+ k 2 ) ] ω2 + k 1 k 2=0
In the example problem we get
 2 5 mk ±3 mk N
ω= use ∧kg get ω1=6.283 rad /sec∧ω2=12.566 rad /sec
4m
2
mts

[ ]
[ ∅ 1 ]= 0.5
1
∧[ ∅ 2 ] =
[ ]
−1
1

Modal participation factors are given by

T
{ ∅ i } [ m ] {r }
Γi = T
since influnce coefficients are∈line direction of ground motion
{∅ i } [ m ] {∅ i }

we write { r }= {11}
Hence

Γ 1=
[
[ 0.5 1 ] 5000
0
0
2500 ] {11} =1.33 similarly Γ = [−1 1] [5000 0
0
]
2500 1 }
{1
=−0.333
[ ][ 1 ] [ −1 1 ] [
2500 ][ 1 ]
2
−1
[ 0.5 1 ] 5000 0 0.5 5000 0
0 2500 0

1st Mode Response

2π 2π
T 1= = =1 se c
ω 1 6.283
2
ζ =0.02 ¿ theresponse spectra we get S A 1=6.17 m/ sec ∧S D 1=0.153 mts .
Top floor displacement =Γ 1 ∅ 21 S D 1 =0.204 mts ∈1 st mode ;

Bottom∨1 st floor displacement =Γ 1 ∅ 11 S D 1

3
¿ base s h ear=2 k Γ 1 ∅ 11 S D 1=2 x 197.392 x 10 x 0.5 x 1.33 x 0.153=40.16 KN